Determination of reasonable geometrical distribution of markers for accurate motion parameters of rigid body

Influence of reasonable geometrical distribution of markers on motion parameters of rigid body is more significant than that of coordinate disturbance of markers. In this paper, a novel approach is proposed to determine a reasonable geometrical distribution of least markers for accurate motion parameters of rigid body. Firstly, geometrical distribution of marker attached to a rigid body is described as few parameters such as marker number, centroid coordinate and coordinate difference which can be used to compute motion parameters including a rotation matrix and a translating vector, and to provide error evaluation by the coordinate error method and RMS method. Secondly, a set of strategy is summarized as the requirement and constraint for the layout of marker. Thirdly, a novel approach is presented to select an optimal distribution of fewest markers no loss of estimating accuracy of motion parameters from a lot of markers. Finally, an experiment for simplification of 3D point cloud use to verify the effectiveness and validity of the proposed approach.